37 lines
1.0 KiB
Rust
37 lines
1.0 KiB
Rust
use criterion::{black_box, criterion_group, criterion_main, Criterion};
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use ros3_core::{Publisher, RobotState};
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fn benchmark_publish(c: &mut Criterion) {
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let rt = tokio::runtime::Runtime::new().unwrap();
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c.bench_function("ros3_publish", |b| {
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let publisher = Publisher::<RobotState>::new("benchmark/topic");
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let msg = RobotState::default();
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b.to_async(&rt).iter(|| async {
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black_box(publisher.publish(&msg).await).unwrap();
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});
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});
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}
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fn benchmark_serialization(c: &mut Criterion) {
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use ros3_core::serialization::{serialize_cdr, serialize_rkyv};
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let msg = RobotState::default();
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c.bench_function("cdr_serialize", |b| {
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b.iter(|| {
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black_box(serialize_cdr(&msg)).unwrap();
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});
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});
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c.bench_function("rkyv_serialize", |b| {
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b.iter(|| {
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black_box(serialize_rkyv(&msg)).unwrap();
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});
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});
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}
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criterion_group!(benches, benchmark_publish, benchmark_serialization);
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criterion_main!(benches);
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